Autonomous robotic meteorite identification in Antarctica

Author

Pedersen, Liam ; Wagner, Michael ; Apostolopoulos, Dimitrios ; Whittaker, W.R.

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

4

fYear

2001

fDate

2001

Firstpage

4158

Abstract

This paper describes the development and implementation of a Bayes network based system for distinguishing terrestrial rocks from meteorites from onboard the mobile robotic rover Nomad. Equipped with a color camera and spectrometer, Nomad autonomously made the first robotic identification of a meteorite, in January 2000 at the Elephant Moraine, Antarctica. This paper discusses rock classification from a robotic platform and the challenges of autonomously obtaining good sensor data in the field, while focusing on Nomad implementation.

Keywords

belief networks; geophysical equipment; image classification; meteorites; mobile robots; object recognition; robot vision; rocks; visible spectrometers; Antarctica; Bayes network; Elephant Moraine; Nomad; autonomous robotic meteorite identification; color camera; mobile robotic rover; spectrometer; terrestrial rocks; Antarctica; Cameras; Humans; Ice; Intelligent networks; Mobile robots; Moon; Robot sensing systems; Robot vision systems; Spectroscopy;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933268

Filename

933268